+
+During the flight along the waypoint, the setpoint of the pressure will decrease in order to increase the altitude (it is safer to fly in a straight line at a higher altitude, so the drone would not crash into anything). And during GPS stabilization (when the drone is already close to the platform), the drone will be set with a setpoint of pressure that correlates with ~ 1.5 - 2 m above the platform.
+
+#### Optical stabilization
+
+A cross-platform web sarvar application which proved to be very convenient for configuration and debugging. Which has a blackbox feature for recording logs, as well as communication with the platform and many other necessary algorithms.
+
+Example of the operating stabilization (clickable):
+
+
+
+
+ 
+
+
+
+All basic settings are conveniently placed in separate JSON files (settings, PID), which allow a user to quickly change required parameters without rebuilding the application. In fact, to run the application, you just need to download the latest release, unpack the archive and run it through the launcher corresponding to the preferable OS.
+
+Liberty-Way connects to Liberty-Link module installed on the drone and adjusts its position by directly controlling four main channels of the remote control. In one cycle (each frame from the camera), 12 bytes of correction data are sent to the module.
+
+Both settings and bytes are described more thoroughly in [our main repository's description](https://github.com/XxOinvizioNxX/Liberty-Way).
+
+------
+
+#### Eitude Platform
+
+The platform is a system for landing the drone. The platform was planned to be controlled via the Serial interface, using the G-Code commands.
+
+Considering that our platform must work in various environmental conditions, and good visibility of the ArUco marker is crucial for optical stabilization, it is important to have an automatic system for measuring the camera exposure by the level of illumination around it, and turning on additional illumination if there is a lack of lighting. In the long term, it is planned to use specialized sensors, for example, the BH1750, as light sensors.
+
+
+
+ 
+
+
+For more details please refer to [Eitude](https://github.com/XxOinvizioNxX/Liberty-Way/tree/main/Eitude).
+
+-----------
+
+## 2. How to build it
+
+ First off all we have to assemble the drones frame from 3d printed and easily accessible materials from any construction store. Parts and .stl docs for 3d printing are listed down below.
+ ❗List of parts
+
+ Now let's assemble the frame with step by step istruction
+ ❗Instruction.pdf
+
+First of all you have to buy and gether all the electrical parts from the list downbelow.
+
+ ❗List of parts
+
+Then let's assemble all the systems one by one.
+
+
+
+❗ Naturally this has to be edited as well ❗
+
+
+## 3. How to build it
+
+## 7. Conclusion
+
+At the moment, there is a debugged prototype of optical stabilization, GPS holding, altitude stabilization via barometer, different platform prototypes and a great amount of 3D models eager to be constructed.
+The project of the automatical landing of a drone onto a moving platform is not yet complete.
+
+Follow the updates:
+
+- In our repository [GitHub](https://github.com/XxOinvizioNxX/Liberty-Way).
+- On our [YouTube channel](https://www.youtube.com/channel/UCqN12Jzy-1eJLkcA32R0jdg).
+- In our [Twitter account](https://twitter.com/liberty_drones).
+
+In the future, we plan to do much more new and interesting stuff!
+
+
+
+ 
+
+ 
+ 
+ 
+ 
+
+